مهندسی مکانیک مدرس

مهندسی مکانیک مدرس

طراحی، ساخت و کنترل یک مکانیزم تولید حرکت برای یک شبیه‌ساز تعاملی دوچرخه-سواری

نویسندگان
1 دانشگاه تهران
2 دانشگاه تهران، دانشکده علوم و فنون نوین
چکیده
مکانیزم­های شبیه ساز ورزش جذابیت و کاربرد زیادی در عمل به منظور پیاده سازی محیطهای واقعیت مجازی دارد. شبیه­ساز دوچرخه­سواری، با توجه به عمومیت فعالیت دوچرخه سواری در ورزش و حمل و نقل شهری جایگاه ویژه­تری دارد. در این مقاله، طراحی و ساخت یک مکانیزم نوین تولید حرکت برای شبیه­ساز تعاملی دوچرخه­سواری ارائه شده ­است. ابتدا با به کارگیری نتایج تحقیقات گذشته، حدود سرعت و شتابی که کاربر حین دوچرخه­سواری بایستی تجربه ­کند استخراج شده و ضمن تحلیل سایر شبیه­سازهای دوچرخه­سواری، درجات آزادی مورد نیاز و حدود آن تعیین شده است. سپس مکانیزم تولید حرکت جدید با دو درجه آزادی برای این کاربرد ارائه شده است. از الگوریتم ژنتیک برای تحلیل ابعادی مکانیزم استفاده شده و روابط سینماتیکی و دینامیکی مکانیزم استخراج شده است. با توجه به مدل دینامیکی مکانیزم، کنترل کننده­ای به روش خطی­سازی بازخورد طراحی شده و نتایج و عملکرد آن­ در نرم­افزارهای شبیه­ساز مورد بررسی قرار گرفته است. سپس مکانیزم تولید حرکت طراحی شده، ساخته شده و ایرادات آن برطرف گردیده است. در پایان کنترل موقعیت بطور موفقیت­آمیز روی آن پیاده­ سازی شده است.
کلیدواژه‌ها

عنوان مقاله English

Design, Construction and Control of a Motion Generating Mechanism for an Interactive Cycling Simulator

نویسندگان English

Mohammad Javad Mehrsoroush 1
Khalil Alipour 1
Alireza Hadi 2
Bahram Tarvirdizadeh 1
Keyvan Arezoo 1
1 University of Tehran
2 University of Tehran
چکیده English

Sports simulation mechanisms practically have a lot of appeal and application to implement virtual reality environments. Cycling simulator has a more special place in sports and urban transportation due to the popularity of cycling activities. In this paper, the design and construction of a new motion generating mechanism for an interactive cycling simulator is presented. First, by using the references, the range of velocity and acceleration that the user should experience while cycling has been extracted, and by analyzing other cycling simulators, the required degrees of freedom and its range have been determined. Then, a new motion generating mechanism with two degrees of freedom is designed. Genetic algorithm has been used for dimensional optimization of the mechanism parameters. Kinematics and dynamic equations of the mechanism have been extracted. According to the dynamic model of the mechanism, a controller has been designed using the feedback linearization method and the performance have been investigated. Finally, the designed motion generating mechanism has been constructed and the position control has been implemented on the platform.

کلیدواژه‌ها English

Interactive cycling simulator
Motion generating mechanism
genetic algorithm
Control
J. Van den Ouden, "Inventory of bicycle motion for the design of a bicycle simulator," Masters Department of Precision and Microsystems Engineering, Delft university of technology, Netherlands, 2011.
[2] A. Paz, N. Veeramisti, R. Khaddar, H. de la Fuente-Mella, and L. Modorcea, "Traffic and driving simulator based on architecture of interactive motion," The Scientific World Journal, vol. 2015, 2015.
[3] G. U. Carraro, M. Cortes, J. T. Edmark, and J. R. Ensor, "The peloton bicycling simulator," in Proceedings of the third symposium on Virtual reality modeling language, 1998, pp. 63-70: ACM.
[4] D.-S. Kwon et al., "KAIST interactive bicycle simulator," in Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No. 01CH37164), 2001, vol. 3, pp. 2313-2318: IEEE.
[5] D.-S. Kwon et al., "KAIST interactive bicycle racing simulator: the 2nd version with advanced features," in Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on, 2002, vol. 3, pp. 2961-2966: IEEE.
[6] S. Yin and Y. Yin, "Study on virtual force sensing and force display device for the interactive bicycle simulator," Sensors and Actuators A: Physical, vol. 140, no. 1, pp. 65-74, 2007.
[7] S. Yin and Y. Yin, "Implementation of the interactive bicycle simulator with its functional subsystems," Journal of computing and information science in engineering, vol. 7, no. 2, pp. 160-166, 2007.
[8] Q. He, X. Fan, and D. Ma, "Full bicycle dynamic model for interactive bicycle simulator," Journal of Computing and Information Science in Engineering, vol. 5, no. 4, pp. 373-380, 2005.
[9] C.-K. Chen, F.-J. Chen, J.-T. Huang, and C.-J. Huang, "Study of interactive bike simulator in application of virtual reality," Journal of the Chinese society of mechanical engineers, vol. 28, no. 6, pp. 633-640, 2007.
[10] H. J. Yap, J. G. Ng, Z. A. Zakaria, Z. Taha, S.-W. Chang, and K. S. Yap, "Design and development of a 6-DOF system for virtual bicycle simulator," Movement, Health & Exercise, vol. 5, no. 2, 2016.
[11] Z. Zakaria and H. Yap, "Design and Development of a Virtual Reality Based Track Cycling Simulator," in International Conference on Movement, Health and Exercise, 2016, pp. 79-82: Springer.
[12] H. J. Yap, T. C. Hau, Z. Taha, C. S. Wee, S. C. Sekaran, and W. W. Lim, "Design and development of a spatial immersive track cycling simulator," Malaysian Journal of Movement, Health & Exercise, vol. 7, no. 2, 2018.
[13] T. Yamaguchi et al., "Development of Bicycle Simulator with Tilt Angle Control Tilt Angle," in 2018 IEEE 42nd Annual Computer Software and Applications Conference (COMPSAC), 2018, vol. 2, pp. 247-252: IEEE.
[14] F. Schramka, S. Arisona, M. Joos, and A. Erath, "Development of Virtual Reality Cycling Simulator," Arbeitsberichte Verkehrs-und Raumplanung, vol. 1244, 2017.
[15] A. Keler et al., "A bicycle simulator for experiencing microscopic traffic flow simulation in urban environments," in 2018 21st International Conference on Intelligent Transportation Systems (ITSC), 2018, pp. 3020-3023: IEEE.
[16] C. Sun and Z. Qing, "Design and Construction of a Virtual Bicycle Simulator for Evaluating Sustainable Facilities Design," Advances in Civil Engineering, vol. 2018, 2018.
[17] J. J. Craig, Introduction to robotics: mechanics and control, Third edition ed. United States: Pearson Prentice Hall, 2005.